version: 66.11
glider: 191
mission: 5
dive: 409
start: 1 28 113 20 36 24
data:
$ID,191
$MISSION,5
$DIVE,409
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5119.0908
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,280113,202234,2433.357,-3718.666,31,1.3,31,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-60.5
$GPS2,280113,203542,2433.326,-3718.534,16,1.1,17,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,21.0,3228,-20.9,-6.049,-25.03
$D_GRID,980
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.80,-45.6,0.0,0.0,0,87,0.00,0.00,-59.50,0.000,6,0.000,0.000,153,1518,3249,0,0,0,0,0,0,28.83,28.83,14.73
$GC,91,-0.80,-45.6,3.5,-7.8,4,106,9.57,1.83,0.00,0.000,4,0.409,0.051,1914,2573,3252,1,0,0,0,0,0,13.73,14.48,28.83
$GC,329,-0.80,-45.6,30.2,-9.8,20,333,0.00,1.90,0.00,0.000,6,0.000,0.064,1916,1519,3251,0,0,0,0,0,0,28.83,14.33,28.83
$GC,628,-0.80,-45.6,60.0,-10.4,40,632,0.00,1.83,0.00,0.000,4,0.000,0.050,1910,2572,3253,0,0,0,0,0,0,28.83,14.34,28.83
$GC,734,-0.80,-45.6,71.0,-10.6,47,738,0.00,1.90,0.00,0.000,6,0.000,0.063,1913,1513,3253,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1033,-0.79,-45.6,104.0,-11.3,67,1037,0.00,1.92,0.00,0.000,4,0.000,0.081,1913,461,3253,0,0,0,0,0,0,28.83,14.31,28.83
$GC,1124,-0.76,-45.6,115.1,-12.7,73,1129,0.15,1.80,0.00,0.000,6,0.298,0.040,1935,1519,3253,0,0,0,0,0,0,13.99,14.52,28.83
$GC,1424,-0.77,-45.6,145.0,-9.0,93,1427,0.00,1.92,0.00,0.000,4,0.000,0.081,1937,467,3254,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1574,-0.77,-45.6,159.0,-9.2,103,1578,0.00,1.80,0.00,0.000,6,0.000,0.041,1931,1521,3253,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1875,-0.78,-45.6,181.9,-7.0,123,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,1522,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2173,-0.78,-45.6,202.8,-7.3,143,2177,0.00,1.92,0.00,0.000,4,0.000,0.080,1931,461,3254,0,0,0,0,0,0,28.83,14.35,28.83
$GC,2264,-0.78,-45.6,210.4,-8.7,149,2268,0.00,1.80,0.00,0.000,6,0.000,0.040,1923,1527,3254,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2563,-0.78,-45.6,234.8,-8.3,169,2567,0.00,1.95,0.00,0.000,4,0.000,0.083,1923,461,3254,0,0,0,0,0,0,28.83,14.23,28.83
$GC,2654,-0.77,-45.6,243.0,-9.3,175,2658,0.00,1.80,0.00,0.000,6,0.000,0.041,1915,1526,3254,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2955,-0.77,-45.6,268.6,-8.2,188,2959,0.00,1.80,0.00,0.000,4,0.000,0.052,1907,2581,3253,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3059,-0.77,-45.6,276.7,-7.8,192,3063,0.15,1.88,0.00,0.000,6,0.265,0.062,1938,1519,3253,0,0,0,0,0,0,14.12,14.51,28.83
$GC,3376,-0.79,-45.6,298.2,-6.7,203,3380,0.00,1.90,0.00,0.000,4,0.000,0.081,1938,467,3252,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3523,-0.79,-45.6,308.8,-8.1,208,3527,0.00,1.77,0.00,0.000,6,0.000,0.041,1932,1521,3252,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3824,-0.80,-45.6,334.8,-8.4,218,3828,0.00,1.92,0.00,0.000,4,0.000,0.080,1932,463,3251,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3883,-0.80,-45.6,339.0,-8.9,220,3887,0.00,1.80,0.00,0.000,6,0.000,0.041,1925,1526,3252,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4185,-0.81,-45.6,367.1,-8.6,230,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,1527,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4484,-0.82,-45.6,392.7,-8.3,240,4488,0.00,1.95,0.00,0.000,4,0.000,0.083,1925,460,3250,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4604,-0.82,-45.6,401.9,-8.8,244,4607,0.00,1.80,0.00,0.000,6,0.000,0.042,1917,1522,3250,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4904,-0.82,-45.6,426.3,-7.6,254,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,1522,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5205,-0.82,-45.6,449.8,-7.8,264,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,1523,3248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5505,-0.82,-45.6,473.3,-7.8,274,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,1523,3247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5804,-0.82,-45.6,496.3,-7.7,284,5807,0.00,1.95,0.00,0.000,4,0.000,0.083,1917,461,3247,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5969,-0.82,-45.6,511.3,-9.1,290,5973,0.00,1.80,0.00,0.000,6,0.000,0.043,1908,1519,3246,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6283,-0.82,-45.6,538.9,-8.8,301,6287,0.00,1.92,0.00,0.000,4,0.000,0.084,1909,467,3245,0,0,0,0,0,0,28.83,14.35,28.83
$GC,6450,-0.81,-45.6,555.5,-10.1,307,6453,0.00,1.80,0.00,0.000,6,0.000,0.044,1901,1524,3244,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6764,-0.81,-45.6,586.2,-9.7,318,6767,0.00,1.95,0.00,0.000,4,0.000,0.085,1901,466,3244,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6839,-0.79,-45.6,594.0,-10.3,321,6843,0.17,1.80,0.00,0.000,6,0.285,0.044,1928,1522,3244,0,0,0,0,0,0,13.98,14.56,28.83
$GC,7157,-0.82,-45.6,621.9,-8.5,332,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1524,3242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7454,-0.84,-45.6,645.8,-7.6,342,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,1524,3241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7755,-0.86,-45.6,667.2,-7.1,352,7759,0.00,1.95,0.00,0.000,4,0.000,0.086,1928,463,3241,0,0,0,0,0,0,28.83,14.32,28.83
$GC,7843,-0.87,-45.6,672.8,-7.5,355,7846,0.00,1.80,0.00,0.000,6,0.000,0.044,1923,1519,3241,0,0,0,0,0,0,28.83,14.43,28.83
$GC,8146,-0.89,-45.6,694.9,-6.6,365,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,1521,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8444,-0.91,-45.6,714.4,-6.3,375,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,1520,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8745,-0.93,-45.6,733.1,-6.5,385,8749,0.00,1.95,0.00,0.000,4,0.000,0.087,1923,465,3237,0,0,0,0,0,0,28.83,14.28,28.83
$GC,8818,-0.93,-45.6,738.4,-7.0,388,8822,0.00,1.83,0.00,0.000,6,0.000,0.045,1915,1526,3237,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9136,-0.94,-45.6,762.0,-7.9,399,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,1527,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9435,-0.95,-45.6,787.3,-8.4,409,9439,0.00,1.83,0.00,0.000,4,0.000,0.057,1907,2576,3235,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9523,-0.97,-45.6,793.7,-8.6,412,9527,0.00,1.92,0.00,0.000,6,0.000,0.067,1907,1519,3235,0,0,0,0,0,0,28.83,14.28,28.83
$GC,9824,-0.97,-45.6,820.6,-8.3,422,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,1519,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10124,-0.97,-45.6,844.8,-8.2,432,10127,0.00,1.98,0.00,0.000,4,0.000,0.089,1907,463,3232,0,0,0,0,0,0,28.83,14.20,28.83
$GC,10290,-0.97,-45.6,859.9,-9.1,438,10293,0.00,1.83,0.00,0.000,6,0.000,0.046,1899,1520,3232,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10603,-0.97,-45.6,887.2,-8.6,449,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1521,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10904,-0.97,-45.6,912.5,-8.4,459,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1521,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11204,-0.97,-45.6,937.4,-8.2,469,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1521,3228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11504,-0.97,-45.6,962.8,-8.5,479,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,1521,3228,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11710,begin apogee
$GC,11719,-0.18,0.0,980.2,-8.3,486,11788,0.93,0.00,60.88,1.628,6,0.245,0.000,2124,1393,3062,0,0,0,0,1,0,13.66,28.83,13.06
$STATE,11790,end apogee,CONTROL_FINISHED_OK
$STATE,11790,begin climb
$GC,11793,0.80,45.6,982.3,0.0,488,11870,1.02,0.00,68.05,1.652,6,0.113,0.000,2446,1392,2875,0,0,0,0,1,0,14.33,28.83,12.99
$GC,12164,0.88,145.9,995.1,-2.9,501,12304,0.00,1.92,130.62,1.879,4,0.000,0.058,2446,2454,2467,0,0,0,0,1,0,28.83,14.20,13.02
$GC,12421,0.79,145.9,984.4,8.1,509,12425,0.00,1.92,0.00,0.000,6,0.000,0.073,2454,1403,2463,0,0,0,0,0,0,28.83,14.40,28.83
$GC,12737,0.75,145.9,955.2,9.2,520,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1402,2460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13034,0.71,145.9,927.4,9.2,530,13039,0.15,1.85,0.00,0.000,4,0.317,0.058,2425,2453,2458,0,0,0,0,0,0,14.14,14.52,28.83
$GC,13124,0.69,145.9,920.8,8.9,533,13128,0.00,1.92,0.00,0.000,6,0.000,0.074,2431,1394,2458,0,0,0,0,0,0,28.83,14.48,28.83
$GC,13426,0.67,145.9,893.7,8.4,543,13430,0.00,1.98,0.00,0.000,4,0.000,0.097,2439,347,2456,0,0,0,0,0,0,28.83,14.35,28.83
$GC,13500,0.64,145.9,886.9,8.8,546,13504,0.17,1.83,0.00,0.000,6,0.285,0.048,2407,1409,2455,0,0,0,0,0,0,14.02,14.54,28.83
$GC,13816,0.64,145.9,865.5,6.3,557,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1409,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14115,0.65,150.5,847.8,5.6,567,14116,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1409,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14413,0.65,156.4,831.2,5.5,577,14449,0.00,2.00,26.35,0.981,4,0.000,0.098,2408,346,2422,0,0,0,0,1,0,28.83,14.50,13.29
$GC,14532,0.65,156.4,824.8,6.1,581,14536,0.00,1.83,0.00,0.000,6,0.000,0.050,2408,1396,2422,0,0,0,0,0,0,28.83,14.53,28.83
$GC,14835,0.65,156.4,804.8,6.3,591,14839,0.00,2.00,0.00,0.000,4,0.000,0.099,2414,340,2422,0,0,0,0,0,0,28.83,14.28,28.83
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$GC,23174,0.79,185.0,251.9,6.5,869,23177,0.00,1.80,0.00,0.000,4,0.000,0.054,2410,2445,2309,0,0,0,0,0,0,28.83,14.39,28.83
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$STATE,26425,end climb,SURFACE_DEPTH_REACHED
$STATE,26425,begin surface coast
$FINISH,-0.0,1.001832
$STATE,26441,end surface coast,CONTROL_FINISHED_OK
$STATE,26441,begin surface
$SM_CCo,26466,110.38,0.686,0,0,1756,320.12
$SM_GC,0.94,7.07,2.03,110.38,0.091,0.049,0.686,156,1496,1756,-6.30,-1.64,320.12,0,0,0,0,0,0,14.42,14.45,13.77
$IRIDIUM_FIX,2422.84,-3719.67,280113,121208
$TT8_MAMPS,0.023219,0.023219
$HUMID,54.48
$INTERNAL_PRESSURE,9.26275
$TCM_TEMP,25.10
$XPDR_PINGS,3
$SC_FREEKB,7613056
$TM_FREEKB,3730144
$24V_AH,13.0,194.482
$10V_AH,12.9,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.250,132.425,345.575,110.375,0.000,0.000,0.000,412.975,0.750,0.000,17.839,3037.299,20636.693,705.532,2324.722,655.538,0.000,2025.386,0.000,1773.190,0.000,0.549,0.000
$DEVICE_MAMPS,409.275,105.570,1878.840,686.205,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,26496.000,6016.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.186,12.999,0.000,0.000
$MEM,345608
$DATA_FILE_SIZE,39939,1086
$CAP_FILE_SIZE,231665,0
$CFSIZE,260034560,202072064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,5,1,0
$CURRENT,0.014,115.6,1
$GPS,290113,040035,2435.352,-3718.065,27,0.9,27,-13.8